CN1259025C - X rays photoing system and method for controlling same - Google Patents
X rays photoing system and method for controlling same Download PDFInfo
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- CN1259025C CN1259025C CN96123447.4A CN96123447A CN1259025C CN 1259025 C CN1259025 C CN 1259025C CN 96123447 A CN96123447 A CN 96123447A CN 1259025 C CN1259025 C CN 1259025C
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Abstract
This invention discloses a X-ray photographing system provided by combining an X-ray photographing equipment capable of fluoroscoping and X-ray photographing a patient from multiple directions with the other X-ray equipment and a diagnostic apparatus, etc., and control method therefor. The X-ray equipment comprises X-rays radiation members and and X-rays photographing members and disposed on a C-letter arm slidable inside a slide support member . The C-letter arm is held on a column through a rotating support and the column is supported movably in the lateral direction, in the body axis of an examinee and rotatably by means of a truck installed on the ceiling. The movement is regulated by a designation by an operation panel based on the information previously stored.
Description
Technical field
The present invention relates to X ray camera chain and control method thereof, relate in particular to and to carry out the X ray photographic attachment of radioscopy and X ray photography and X ray camera chain and the control method thereof that other X-ray apparatus, the diagnostic equipment are formed by combining from a plurality of directions to the patient.
Background technology
Along with being called the delivering of works and the popularizing of this technology of intravenous, developing and in blood vessel, inserting the clinical means that conduit is not limited to the non-vascular system disease of vascular system in recent years according to shadow (being designated hereinafter simply as IVR) technology.Along with popularizing of IVR, use simultaneously circulator's the X ray photographic attachment of X ray photography and other X ray photographic attachment for example the situation of carrying out X-ray examination/treatment such as rotary stereo photographic attachment, CT device increase day by day.For this reason, being necessary to be provided with several X ray photographic attachment, above-mentioned several X ray photographic attachment in same X ray photographic studio normally is fixed on and uses on ceiling and the ground.
But, for X-ray examination/treatment, except that being used for IVR, the X ray photographic attachment that the X ray that also has independent use to carry out blood circulation is photographed or the situation of other X ray photographic attachment.In this case, to earlier the examine person who is transported in the X ray photographic studio by stretcher etc. be transferred on the examinating couch, again by on the X ray photographic attachment of regulation, making the examinating couch motion, after the X ray photography position of X ray photographic attachment, just can be checked/treating with examine person by the spots localization of X-ray examination.
In addition, other X ray photographic attachment of use subsequently carries out under the situation of X-ray examination/treatment, need earlier examine person to be transferred on the stretcher, if the examiner is transported near the X ray photographic attachment that uses with examining table, just can transfer on the examinating couch, and move on the X ray photographic attachment by examinating couch again, examine person just can be checked/treats on the X ray camera unit of X ray photographic attachment by the spots localization of X-ray examination.
Recently, in order effectively to utilize the space in the X ray photographic studio to have the people to propose following proposal: by means of manual or electric operating the X ray photographic attachment that carries out circulator's X ray photography that is arranged on the ceiling is kept out of the way on the position that does not hinder treatment along the ceiling guide rail that is arranged on the ceiling, be arranged on ground other X ray photographic attachment along being arranged on the necessary position that ground ground guide moves to inspection by manual or electronic making.
Existing rotary stereo photographic attachment has been well-known as described in the Japanese patent gazette spy opens flat 06-269436 communique.
There are the following problems for above-mentioned existing apparatus: untapped X ray photographic attachment has hindered the X-ray examination/treatment of other X ray photographic attachment in using, and doctor and examine person can not lean on very closely in the operative treatment.
Summary of the invention
The purpose of this invention is to provide a kind of X ray camera chain and control method thereof that overcomes defective in the above-mentioned prior art, this system is by the X ray photographic attachment and other X ray photographic attachment that carry out the photography of circulation X ray, diagnostic equipment combination, the X ray photographic attachment that is provided with on ceiling and other X ray photographic attachment are arranged in the same X ray photographic studio, no matter can both provide operability good under the situation of uniting under the situation of use still at these X ray photographic attachment of use separately, the X ray photographic attachment of the circulator's that X-ray examination/therapentic part for the treatment of the examiner in wide region is checked/treated X ray photography.
The technical scheme that realizes the object of the invention is: along the major axis of the examining table that is loaded with examine person and a direction of principal axis configuration X ray photographic attachment in the short-axis direction, dispose in the X ray camera chain of other medical diagnosis device along the direction of another root axle, above-mentioned X ray photographic attachment is configured on the ceiling along first travel mechanism that an above-mentioned direction of principal axis moves, and making above-mentioned other diagnostic equipment along travel mechanism's configuration that another direction of principal axis moves on the ground.
In addition, above-mentioned purpose can reach by being equipped with following unitary system: being provided with in the ceiling horizontal plane can be for moving the chassis of the usefulness of travelling along both direction straight line at least, the pillar that can rotate in horizontal plane is being set on the chassis, the C type frame of support free to rotate is set on this pillar, on C type frame, the x-ray bombardment unit is set, on the position relative, image unit is set with the above-mentioned x-ray bombardment unit of above-mentioned C type frame, detect the detecting unit of the rotational angle of the straight line shift position of above-mentioned chassis and above-mentioned pillar, store the memory element of the rotational angle of the straight line shift position of above-mentioned chassis and above-mentioned pillar, control above-mentioned chassis of driving and above-mentioned pillar are towards the control unit of its memory location motion.
In addition, purpose of the present invention can reach by following manner: while pillar is moved by additionaling power operation or the manual operation of not having an additionaling power straight line shift position of above-mentioned chassis and the rotational angle of above-mentioned pillar are stored in the above-mentioned storage device, above-mentioned C type frame can be rotated by rotation holding components and the slip holding components that is fixed on pillar one end, and constitute above-mentioned slip holding components by being supported in slidably along C font parts by the groove part that is provided with on the center of rotation parts that rotate the holding components support, when C type frame slided in the slip holding components, the part outwards outstanding from the C type frame of camera unit was positioned at above-mentioned groove.
Above-mentioned purpose can realize by following manner: be provided for operational drive chassis straight line at least and move the operation of rotating with above-mentioned pillar on two positions, one of them position is on above-mentioned pillar.
Above-mentioned purpose can realize by following manner: be equipped with on above-mentioned X ray photographic attachment and move, store other medical diagnosis device in the plane that can make above-mentioned other medical diagnosis device become level on the ground with ground in the shift position on ground and the control unit that above-mentioned other medical diagnosis device is moved on this memory location.
Can realize above-mentioned purpose by carrying out following control, that is: according to the image move of above-mentioned X-ray apparatus medical diagnosis device keeping out of the way in the district outside other direction moves to above-mentioned slewing area of above-mentioned table position with other, the X ray photographic attachment is moved along an above-mentioned direction, and move on the above-mentioned camera positions.
Can realize above-mentioned purpose by carrying out following control: move above-mentioned X ray photographic attachment according to move, above-mentioned other medical diagnosis device is moved to leave the distance beyond this X ray photographic attachment predetermined distance last according to above-mentioned X ray photographic attachment mobile.
Above-mentioned purpose can realize by following operation: according to the indication of keeping out of the way with respect to above-mentioned X ray photographic attachment, the frame of this X ray photographic attachment is moved on the turned position of regulation, when this X ray photographic attachment moves to retreating position one end, just demonstrating above-mentioned X ray photographic attachment is on the retreating position, and, in above-mentioned X ray photographic attachment moving process, forbid that other medical diagnosis device moves, when above-mentioned X ray photographic attachment reaches retreating position, remove the ban that above-mentioned other medical diagnosis device is moved.
Be applicable to the situation that is arranged on for example X ray photographic attachment and other medical treatment device (for example rotary stereo photographic attachment) in the same room and unites use with it by the X ray photographic attachment of the present invention system of above-mentioned formation, when not carrying out X-ray examination with the rotary stereo photographic attachment separately, can easily the X ray photographic attachment be kept out of the way checking on the unobstructive position with the X ray photographic attachment.Be about to the ceiling guide rail along disposing with the vertical direction of those who are investigated's body axes, because the X ray photographic attachment can move along being arranged on internal guide rail in the ceiling guide rail and those who are investigated's the rectangular direction of height direction, so the motion of the height direction of the those who are investigated by examining table is not hindered by the X ray photography, can the those who are investigated in the X ray territory that is in the rotary stereo photographic attachment correctly be located.Therefore, can be the target site of the scope from those who are investigated's head to the foot front end as X-ray examination/treatment.
In addition, because the turned position in the horizontal plane of the straight line shift position of internal guide rail and chassis and pillar is stored in the memorizer of control unit, so undertaken under the situation about moving of X ray photographic attachment by use these data from the mobile indication of operator at control unit, promptly carry out from the camera positions of X ray photographic attachment under the situation that retreating position moves, moves to camera positions from retreating position, the wall of X ray photographic attachment and X-ray examination chamber not being moved with conflicting with the rotary stereo photographic attachment.For example, when the X ray photographic attachment is in retreating position, moves when control unit sends instruction to camera positions for making it, control unit moves rotation with pillar according to the sequence of movement of storage and operating position control chassis along the guide rail straight line of ceiling guide rail inside, makes the X ray photographic attachment move to camera positions electrically.Therefore, the present invention can finish X ray photographic attachment moving between retreating position and camera positions at short notice, and operating characteristics is good, thereby can promptly carry out X-ray examination/treatment.
According to the present invention, can in wide region, check at the position to be looked into to those who are investigated in that X ray photographic attachment of the present invention and rotary stereo photographic attachment, C T device etc. are united under the situation of use.Because can make said apparatus carry out moving between camera positions and the retreating position without barrier, easily, thus can promptly carry out X-ray examination/treatment to those who are investigated, and operating characteristics is good.
Describe the embodiment of X ray camera chain of the present invention with reference to the accompanying drawings in detail.
Description of drawings
Fig. 1 is the structure chart of the ceiling hanging type X ray photographic attachment that uses in the embodiment of the present invention;
Fig. 2 is the control system structure chart of the X ray photographic attachment that uses in the embodiment of the present invention;
Fig. 3 A, 3B represent to be united by X ray photographic attachment and rotary stereo photographic attachment the X ray camera chain allocation plan of the one embodiment of the present of invention that constitute;
Fig. 4 represents to be united by X ray photographic attachment and rotary stereo photographic attachment the X ray camera chain allocation plan of the one embodiment of the present of invention that constitute;
Fig. 5 represents the camera chain allocation plan of other embodiments of the invention of being constituted by X ray photographic attachment and rotary stereo photographic attachment and C T device;
Fig. 6 is the front view that the X ray photographic attachment of the alternate manner that uses in the X ray camera chain of embodiments of the invention constitutes;
Fig. 7 is the oblique view of the X ray photographic attachment structure of the alternate manner that uses in the X ray camera chain of embodiments of the invention;
Fig. 8 is for explanation X ray photographic attachment is in retreating position, the rotary stereo photographic attachment is in camera positions, makes the X ray photographic attachment move to the flow chart (one of them) that desired location rotates the operation under the stereophotography situation from this state;
Fig. 9 is on the camera positions for explanation X ray photographic attachment is in retreating position, rotary stereo photographic attachment, make the X ray photographic attachment move to desired location and carry out operational flowchart (its 2) under the rotary stereo photographic attachment photography situation from this state;
Figure 10 is in camera positions for explanation X ray photographic attachment is in retreating position, rotary stereo photographic attachment, make the X ray photographic attachment be moved on the desired location that leaves those who are investigated's side from this state and carry out operational flowchart (its 1) under the X ray photographic attachment photography situation;
Figure 11 is in camera positions for explanation X ray photographic attachment is in retreating position, rotary stereo photographic attachment, make the X ray photographic attachment be moved on the desired location that leaves those who are investigated's side from this state and carry out operational flowchart (its 2) under the X ray photographic attachment photography situation;
Figure 12 is the action flow chart that illustrates under the situation that makes two X ray photographic attachment move to the inspection position and photograph.
The specific embodiment
Fig. 1 shows the structure of the ceiling hanging type X ray photographic attachment that uses in the one embodiment of the present invention.51 represent the X-ray tube device among Fig. 1, and 52 represent light hurdle device, and 53 representative image booster (1, I), 54 represent television camera, and 55 represent C type frame, and 56 represent pillar, 57 represent chassis, and 58 represent the ceiling guide rail, and T is an examining table, P is the quilt person of looking into, and 59 represent the ceiling face, and 60 represent internal guide rail, 61 represent ground, and 62 represent the slip holding components, and holding components is rotated in 63 representatives, 64 represent the internal guide rail roller, and 65 represent ceiling guide rail roller, and 66 represent installing rack.
Among Fig. 1, X-ray tube device 51 be used to produce X ray and with x-ray bombardment to by the person of looking into P, the light hurdle device 52 that is used to adjust the x-ray bombardment visual field is installed in the front of X-ray tube device 51.Image intensifier 53 is to be used for converting the device of optical image through the X ray of the quilt person of looking into P to, and 54 pairs of optical images by image intensifier 53 conversions of television camera are made a video recording.
C font frame 55 is C word shape, and the x-ray bombardment unit of being made up of X-ray tube device 51, light hurdle device 52 is supported to be fixed on the one end, the fixing X ray image unit of being made up of image intensifier 53 and television camera 54 of its other end support.Be loaded with the examining table T of examinee P by adjustment, make and waited that by the person of looking into P looking into the position is linked to be on the collinear center (x-ray bombardment center) in x-ray bombardment unit and X ray image unit.
Above-mentioned C font frame 55 can be supported on the slip holding components 62 slidably along direction shown in arrow C, the D.This slip holding components 62 can be along rotating with arrow C, the vertical direction of D by the rotation holding components 63 on the end that is fixed on pillar 56.In addition, move by sliding with rotating and to make C font frame 55 with respect to being become a suitable angle by the person of looking into P.
Some rollers 64 are set on chassis 57, and these rollers 64 are that guide rail can move along arrow E and F direction with internal guide rail 60.Chassis 57 can move along the body axes direction straight line of examinee P by this mechanism.Equally, some rollers 65 are set on internal guide rail 60, these rollers 65 are that guide rail can be along moving forward and backward perpendicular to Fig. 1 paper direction with ceiling guide rail 58.Internal guide rail 60 also can be moved along the body axes vertical direction straight line of those who are investigated P by 58 supportings of ceiling guide rail.
The straight line of above-mentioned chassis 57 and internal guide rail 60 moves and can utilize not shown known straight line to move driving mechanism to realize by electronic.Above-mentioned driving mechanism for example can be by formations such as tooth bar and herringbone bear mechanisms, and tooth bar is installed in fixation side, and double helical spurgear is installed on the servo motor shaft that is arranged on mobile side.Each servomotor as hereinafter described, the encoder 70b, the 70c that move usefulness with the detection position fit together.
Some installing racks 66 are fixed on the above-mentioned ceiling guide rail 58, and installing rack 66 is outstanding and be fixed on and be arranged under not shown the hanging on the bolt from ceiling face 59.The X ray photographic attachment is fixed on this and hangs down on the bolt that to be arranged on X-ray examination as the mode of dangling indoor.
Fig. 2 represents the control system block diagram of the X ray photographic attachment that uses in one embodiment of the present invention.In Fig. 2,70a, 70b, on behalf of attitude control, 72, the encoder, 71 that the 70c representative is assembled on the servomotor represent operator, and the parts of other numbering representative are same as shown in Figure 1.
In Fig. 2, encoder 70a is assembled in the encoder that makes on the servomotor that pillar 56 rotates in horizontal plane, encoder 70b is assembled in the encoder that makes on the servomotor that chassis 57 moves along internal guide rail 60 straight lines, and encoder 70c is assembled in the encoder that makes on the servomotor that internal guide rail 60 moves along ceiling guide rail 58 straight lines.Connect each encoder 70a, 70b, 70c makes them can be with the mobile attitude control 71 that sends to of the servomotor at place separately.
The structure of attitude control 71 can be finished following function: in according to the angle of information control examinee P with respect to above-mentioned C font frame 55 from operator's operating operation device 72, drive the control rotation of pillar 56 in horizontal plane and the straight line shift position of chassis 57 and internal guide rail 60 according to operation signal from operator 72 inputs, and receive from encoder 70a, 70b, the position detection signal of 70c, index signal is just stored the position separately of above-mentioned pillar 56, chassis 57 and internal guide rail 60 and the process of change in location if operator 72 sends storage.For this reason, attitude control 71 should comprise CPU and memorizer etc.Attitude control 71 receives by the operator's of operator 72 inputs various instructions and carries out above-mentioned Position Control.
Be arranged on the action that system that same room is used is the X ray photographic attachment of example an embodiment of the invention that above-mentioned formation is described with rotary stereo photographic attachment below with known medical diagnosis device.
Fig. 3 A, 3B and Fig. 4 are the structure charts of the X ray camera chain of explanation an embodiment of the invention, they show the situation of X ray photographic attachment and rotary stereo photographic attachment combination configuration, Fig. 3 B is a front elevation, Fig. 3 A is the plane graph of seeing from the ceiling direction, Fig. 5 is the X ray camera chain structure chart of explanation the present invention another embodiment, the figure shows X ray photographic attachment and C T device as rotary stereo photographic attachment and known medical diagnosis device are made up the situation of configuration.In Fig. 3 A, 3B, 4 and 5,101 represent the X ray photographic attachment, and 102 represent C T device, and the 103rd, the rotary stereo photographic attachment, 105 represent ground guide, and the parts of other label representative illustrate identical with Fig. 1.
In Fig. 3 A, 3B, the rotary stereo photographic attachment 103 that uses with the X ray photographic attachment is arranged on the ground guide 105 on the ground 61 as known in the art, can move along the body axes direction of examinee P.The X ray photographic attachment is positioned at and makes the x-ray bombardment scope with respect to not hindered the rotation stereoradiographic unit by the localized camera positions of the person of looking into P, pillar 56, rotating 90 ° to the position of arrow A direction from the state shown in Fig. 1.
Under above-mentioned state, X-ray tube device 51 sends the perspective X ray, sees through by the X ray of the person of looking into P and converts optical image to by image intensifier 53, and this optical image is by television camera 54 shootings.Radioscopy as the quilt person of looking into P on the unshowned in the drawings known TV monitor of the optical image that photographs looks like to show, it is guide that professionals such as doctor look like with this radioscopy, conduit is inserted in the blood vessel of examinee P, import target site to be looked into up to conduit just.At this moment on TV monitor, demonstrate the front end of conduit, often make examining table T along moving, so that to being located by the person of looking into P by the body axes of the person of looking into P or with the vertical direction of its body axes.
But,, examinee P is positioned in the x-ray bombardment scope if only make examining table T motion.In this case, the operator sends instruction by operator 72 to attitude control 71.Attitude control 71 is accepted this instruction, and send actuating signal to each linear moving mechanism, so that chassis 57 is rotated along arrow E shown in Fig. 3 B and F direction, or internal guide rail 60 is moved along the direction of arrow G and H, thereby will be positioned in the x-ray bombardment scope of X-ray apparatus by the person of looking into P.
After conduit is imported target site to be looked into, make examining table T along being moved usually by the axis direction of the person of looking into P, make and waited to look into the X ray camera coverage location of position with respect to rotary stereo photographic attachment 10 3 by the person of looking into P.Inject contrast agent through conduit to the quilt person of looking into P from not shown contrast medium injection apparatus then.
When photographing by means of above-mentioned rotary stereo photographic attachment 103, though without the X ray photographic attachment, but when the X ray photographic attachment is in camera positions, because image intensifier 53, X-ray tube device 51 are positioned at by the next door of the person of looking into P,, the X ray photographic attachment uses the obstacle that rotary stereo photographic attachment 103 undergos surgery, the operator operates so may becoming for the operation doctor.In order this obstacle not occur, the X ray photographic attachment can be moved on on the retreating position shown in Fig. 3 A.
Can control in the requsst listed below to moving of retreating position from camera positions: before the quilt person of looking into P is checked, operating operation device 72 limits, operator limit make pillar 56 rotate (direction of arrow B is rotated in Fig. 3 B) in horizontal plane by means of power, make chassis 57 straight lines move (arrow E of Fig. 3 B or F direction move), make internal guide rail 60 straight lines move (the arrow G direction moves among Fig. 3 A) and not with inspection chamber in wall 104 and rotary stereo photographic attachment 103 conflict mutually, X-ray apparatus is moved to retreating position, above-mentioned sequence of movement and stop position are stored in the storage device in the attitude control 71 in advance, when reality is checked the quilt person of looking into P, control with the sequence of movement and the stop position of storage.
That is, attitude control 71 is according to the order of importing from operator 72 before being checked by the person of looking into P that pumping signal produced that makes each drive motors action, the change procedure and the rate of change of unit interval that are produced by encoder 70a, 70b, 70c are being write down the moving to retreating position from camera positions.
For this reason, rotate photography in order to carry out solid, the X ray photographic attachment can be moved to retreating position, when the retreating position moving switch that do not illustrate on operator's push device 72, attitude control 71 receives the aforesaid operations signals and moves straight line with motor, chassis 57 according to the sequence of movement of storage in advance to the rotation of pillar 56 and move straight line with motor and internal guide rail 60 and move with motor and send actuating signal, thereby the X ray photographic attachment is moved towards retreating position.The encoder 70a of self assembly in the future on each motor, 70b, the position detection signal of 70c sends attitude control 71 to, when the moment of the retreating position of above-mentioned position signalling and attitude control 71 storages is synchronization, attitude control 71 sends stop signal to each action with motor, stops the rotation of each motor.By these operations, X-ray apparatus is not clashed with X-ray examination locular wall face 104 and rotation stereoradiographic unit, and shift to retreating position from camera positions.
When the X ray photographic attachment is in retreating position, as long as the not shown camera positions moving switch on operator's push device 72, attitude control 71 just moves straight line with motor, chassis 57 to the rotation of pillar 56 and moves straight line with motor and internal guide rail 60 and move with motor and send and carry out from the camera positions of storage moving opposite sequence of movement to retreating position and move instruction with rotational action to the opposite direction straight line, and the X ray photographic attachment is moved to the camera positions of storage in advance.
According to an embodiment of the invention, as mentioned above,, the X ray photographic attachment do not conflict because not sending with the wall in room and rotary stereo photographic attachment when camera positions move on to retreating position, and therefore can be easy and moving of each device of operation correctly.In addition, also can make the professional attentively carry out X-ray examination/treatment, make X-ray examination/therapeutic advance rapidly, accurately.
In addition, when X ray photographic attachment during in camera positions, as shown in Figure 4, rotary stereo photographic attachment 103 is being travelled along ground guide 105 by the back of head one side of the body axes direction of the person of looking into P, rotary stereo photographic attachment 103 is kept out of the way, make pillar 56 rotate 90 ° then, at this moment as shown in Figure 4, can make C font frame 55 from being gone into by the sidesway of the person of looking into P from the state shown in Fig. 3 B along direction shown in the arrow B.Even under this state, chassis 57 is moved along arrow E and the F direction of Fig. 4, in addition, because C font frame 55 is rotated by rotating holding components 63, and in sliding support parts 62, slide, and with at angle by the person of looking into P, so that X ray photographic attachment mobile be added in the actuating range of height direction of the quilt person of looking into P of examining table T, it is positioned at by the position of the person's of looking into x-ray bombardment scope, thereby makes the wide region position of examinee P all can be used as X-ray examination/treatment target.
Though, in above-mentioned embodiments of the present invention, the retreating position and the camera positions of X ray photographic attachment only having been described, the present invention also can store some retreating positions and camera positions, uses advantage more easily thereby have.
For example, if the travelling of the bed surface of 71 pairs of rotations of the attitude control by X ray photographic attachment stereoradiographic unit 103 moves forward into every trade and sails the storage of position, setting, rotary stereo photographic attachment 103 is moved automatically, state shown in Figure 4 is stored and reproduction as a state in the camera positions of X ray photographic attachment.
In addition, as shown in Figure 5, in a room, be provided with under the situation of X ray photographic attachment, rotary stereo photographic attachment 103 and C T device 102, be used for second camera positions that first camera positions, X ray photographic attachment and CT device 102 that X ray photographic attachment and rotary stereo photographic attachment 103 be used in combination are used in combination by storage, in the case of necessary, can simply promptly be set to the X ray photographic attachment on the suitable camera positions.In addition, using separately under the situation of CT device 102, rotary stereo photographic attachment 103, the retreating position that does not hinder CT device 102, rotary stereo photographic attachment 103 to manipulate for the X ray photographic attachment is automatically kept out of the way, can set X ray photographic attachment retreating position, the X ray photographic attachment is moved on this position.
In addition, except aforesaid operations device 72, the operator that the present invention also can be for example to be provided with in addition in the bottom of pillar 57 that horizontally rotating of pillar 56 is mobile in order carrying out, the straight line of chassis 57 moves and to move with the straight line of internal guide rail 60.Whereby, camera positions in the time of can storing attitude control 71 more easily and the move operation between the retreating position, and not with inspection chamber in wall 104, rotary stereo photographic attachment 103 clash.
Though moving of the X ray photographic attachment by the manual or electronic X ray photography of carrying out in above-mentioned prior art, not adopting that for example is arranged on the circulator on the ceiling face, but this moment must be very careful, can not make it to collide with other X ray photographic attachment or wall.According to the above embodiment of the present invention, overcome and to spend the more time and carry out above-mentioned mobile disadvantage.
In addition, be arranged at the device that will not be used under the situation of ground X ray photographic attachment, also can carry out X-ray examination/treatment rapidly, because the device move operation that is not used is poor, otherwise determine its state on the limit, move operation is carried out on retreating position and limit, inspection position makes the X ray photographic attachment move or will spend a lot of time and efforts from retreating position to checking that the position is moved all from camera positions to retreating position.
Fig. 6 and Fig. 7 are respectively the front view and the oblique view of the X ray photographic attachment structure of the alternate manner that uses in the embodiments of the present invention.
Fig. 6 and the X ray photographic attachment shown in Fig. 7 are arranged on the shape of rotation holding components 63 on the pillar 56 and slip holding components 62 and the different example of X ray photographic attachment described in Fig. 1.In this example, on the center of rotation of slip holding components 62 part, be provided with groove part 62 '.Whereby, C font frame 55 in slip holding components 62 when the arrow C direction is slided, the ledge from the C font frame 55 of television camera 54 can be positioned at the groove 62 of slip holding components 62 ' in.
Make the axis that is connected of x-ray bombardment unit and X ray photographic attachment become horizontal direction whereby easily, make this X ray photographic attachment under the localized situation of side part of the quilt person of looking into P, can be to be carried out the horizontal direction photography by the person of looking into P.
In addition, owing to be arranged on the bottom surface of the bottom surface of the rotation holding components 63 on the pillar 56 and slip holding components 62 shape that is in line, this collinear extended line is consistent with the tangential direction of C font frame 55, so can become the global shape device of optimal design flexibly to this X ray photographic attachment.
Below with reference to flow chart to the X ray camera chain of the embodiment of the invention described above as on the X ray photographic attachment, describing with the set positions action of the device of rotating main body photographic attachment combination configuration.
The set positions action that the following describes is that each machine moves and store each position, basis is carried out automatically from the instruction of operator 72 again by manually making in advance.When moving each machine, the action of each machine can also realize by not shown mobile power with drive source.The setting of the photography conditions before radioscopy and the photography and the adjustment in the X ray visual field by the light hurdle are set and both can be carried out in advance, also can be in checking process the limit carry out the radioscopy limit and carry out.
Fig. 8 and Fig. 9 are in retreating position b, rotary stereo photographic attachment 103 under the situation of camera positions c when the X ray photographic attachment, make the X ray photographic attachment move to the flow chart of the operation of desired location a when utilizing the rotary stereo photographic attachment to photograph, be explained below from above-mentioned state.
When (1) beginning to check examinee P, the operation technique person presses the button on the automatic localized desired location on the operator 72, by continuing, the pillar 56 of supporting C type frame 55 is being moved to long side direction and transverse direction along guide rail and by rotating mechanism it is being rotated control when controlling by being arranged on travel mechanism on the ceiling by this button.In addition, as long as operator's hands leaves this button halfway, above-mentioned pillar just stops on this position.Thereby can prevent because carelessness and phenomenon (step 801～804) that generating means and indoor machine collide.
(2) by the moving of step 802～804, when the X ray photographic attachment was finished the position a that moves to storage in advance, by sending as the sound of " pit " or lighting display lamp on the not shown display, the person that informs the operation technique moved and finishes.Therefore, the operation technique person can learn mobile finishing and make hands leave button (step 805,806).
(3) make the image intensifier 53 that is arranged on the C type frame near the quilt person of the looking into P that is positioned on the assigned position by subsequent treatment, press the not shown radioscopy switch of X ray photographic attachment, when perspective is by the person of looking into P, conduit imported and treated diagnosis part (step 807,808) by the person of looking into P.
(4) when checking beginning, will be placed on the examining table T by the person of looking into P, the top board that makes examining table T by operation will be located in the x-ray bombardment scope of X ray photographic attachment by the person of looking into P at above-below direction, long side direction, laterally mobile.Both can carry out carrying out step 806 operating period above-mentioned location, also can carry out (step 809,810) after step 806 finishes.
(5) by step 808 with conduit import by the person of looking into P treat that the diagnosis part is finished after, the top board that is loaded with by the examining table T of the person of looking into P is moved along long side direction, examinee P is transported in the x-ray bombardment scope of rotary stereo photographic attachment (step 811).
(6) press the not shown radioscopy switch that rotates stereoradiographic unit, confirm by the camera positions of the person of looking into P.The top board that make examining table T this moment along the vertical direction, long side direction, transverse direction move, and determines by the camera positions (step 816,813) of the person of looking into P.
(7) by the contrast agent infusion appliance quilt person of looking into P is injected contrast agent, top board position along long side direction localization examination platform T, X ray photo knob by rotating stereoradiographic unit rotates stereophotography, finishes the photography (step 817,813,818,819) of rotary stereo photographic attachment.
(8) when the rotary stereo photographic attachment finishes photography, the top board of examining table T is moved along long side direction, left the rotary stereo photographic attachment by the person of looking into P, make top board along long side direction and laterally mobile again, make on its perspective position that is positioned at the X ray photographic attachment, press the radioscopy switch of X ray photographic attachment, when the quilt person of looking into P is had an X-rayed, conduit is partly extracted (step 813 from the diagnosis of the quilt person of looking into P, 815,820).
(9) finish being checked to photograph by aforesaid operations by the person of looking into P, the operation technique person presses the button of the retreating position b of the automatic position-sensing switch on the operator 72, by pressing this button continuously, make the pillar 56 of supporting C type frame 55 by be arranged on travel mechanism on the ceiling along guide rail to long side direction with when laterally moving, control its rotation (step 821～824) by rotating mechanism.
(10) by the moving of step 822～824, in case the X ray photographic attachment finish storage in advance retreating position b then by means of for example sending " pit " sound or lighting display lamp untill further notice operation technique person on the not shown display and moved and finish.Whereby, the operation technique person learns to move and finishes, and makes hands leave button (step 825～826) on the operator 72.
(11) finishing to the step 826 from the photography of rotary stereo photographic attachment, make be loaded with by the top board of the examining table T of the person of looking into P along the vertical direction, long side direction and laterally moving, make by the person of looking into P and change away and get off from top board from the x-ray bombardment scope of X ray photographic attachment, finish to check (step 827,828).
Figure 10, the 11st, retouch the X ray photographic attachment at retreating position b, rotate stereoradiographic unit 103 at camera positions c, the X ray photographic attachment is moved to leave operational block diagram when being photographed with the X ray photographic attachment by the desired location d of the side of the person of looking into P from this state, be explained below.
When (1) checking beginning, the operation technique person at first presses the button of the automatic localized desired location d on the display operation device 72, by moving on ground rail wheel 105 by the direction of above-mentioned button control rotation stereoradiographic unit along retreating position e continuously.At this moment, when the rotary stereo photographic attachment moves to retreating position e end, can for example send " pit " sound.In view of the above, the operation technique person can learn the mobile beginning of the pillar 56 of supporting C type frame 55, can note move (step 1001～1003) of pillar 56.
(2) then, by rotating mechanism it is being rotated control to long side direction with when laterally the pillar 56 of supporting C type frame 55 being moved control along guide rail by the travel mechanism that is arranged on the ceiling.As long as operator's hands leaves this button halfway, pillar then stops to move on this position, can prevent from whereby to bump against (step 1004～1006) because of carelessness makes device and indoor machine.
(3) by the moving of step 1004～1006, when the X ray photographic attachment is finished the desired location d of storage in advance, by for example sending " pit " sound or lighting display lamp on the not shown display person that informs the operation technique.In view of the above, the operation technique person learns mobile end, and operator's hands leaves the button (step 1007,1008) of operator 72.
When (4) checking beginning, examinee P is placed on the examining table T, the top board that makes examining table T along the vertical direction, long side direction and laterally moving, will be positioned in the x-ray bombardment scope of X ray photographic attachment by the person of looking into P.Above-mentioned location both can be carried out in the operating period of carrying out step 1008, also can carry out (step 1011,1012) after step 1008 finishes.
(5) make the image intensifier 53 that is arranged on the C type frame 55 approaching by the person of looking into P, press the not shown radioscopy switch of X ray photographic attachment, perspective examinee P limit, limit imports to conduit by the diagnosis part of the person of looking into P.At this moment carry out the location ( step 1009,1010,1013) that the top board by examining table T moves repeatedly for the front end of following the tracks of conduit.
(6) C type frame 55 is slided and direction of observation is tilted, so as the X ray camera system to be fixed on can observe best by the person of looking into P wait diagnose on the angle at position (step 1014).
(7) inject contrast agent by the contrast agent infusion appliance to the quilt person of looking into P, press the X ray photo knob of X ray photographic attachment, carry out the X ray photography, finish photography (step 1015～1017) with the X ray photographic attachment.
(8) in case finish with the photography of X ray photographic attachment, just press the radioscopy switch of X ray photographic attachment, have an X-rayed by the person of looking into P on the limit, and position taking-up conduit (step 1018) is waited to diagnose from those who are investigated P's in the limit.
(9) pass through aforesaid operations, because the inspection photography of being checked P is finished, so the operation technique person is by the button of the retreating position b of the position-sensing switch on the expression operator 72, continuously by this button, by being arranged on pillar 56 that travel mechanism control on the ceiling supports C type frame 55, it is rotated control (step 1018～1023) by rotating mechanism along long side direction with when laterally moving.
(10) rotation by step 1020～1022, X ray photographic attachment one reach the retreating position b of storage in advance, then by means of for example sending " pit " sound or lighting display lamp notice operation technique person on the not shown display and moved and finish.In view of the above, the operation technique person learns to move and finishes that hands just leaves the button (step 1024～1027) of operator 72.
(11) from finishing to the step 1207 with the photography of X ray photographic attachment, make be loaded with by the top board of the examining table T of the person of looking into P along the vertical direction, long side direction and laterally moving, make by the person of looking into P and shift away and get off from top board from the x-ray bombardment scope of X ray photographic attachment, finish to check (step 1208,1209).
Figure 12 is other operational instances flow chart, and it further specifies two X ray photographic attachment are moved to the situation of checking to photograph in the position.
The example that the following describes is between process step shown in Figure 8 806 and 807 two photographic attachment to be moved to the situation of photographing in any inspection position.
(1) in step 806, the X ray photographic attachment is positioned at desired location a after, make rotary stereo photographic attachment as other X ray photographic attachment leave camera positions c and move, to being photographed by the person of looking into to another camera positions from this state.At this moment, press the automatic track button of X ray photographic attachment, and rotate the instruction button (step 1201) that stereoradiographic unit moves on to new desired location by making.
(2) begin to move back detection mobile data thereupon in the rotary stereo photography, leave rotary stereo photographic attachment certain distance, make the X ray photographic attachment keep out of the way mobile (step 1202) for making the X ray photographic attachment.
(3) be set to new position by affirmation rotary stereo photographic attachment such as sound after, switch the track button of X ray photographic attachment, with rotation photographic attachment photograph (step 1203).
(4) in step 806, after the X ray photographic attachment is positioned at desired location a, further move to from this state under the situation of the quilt person's other camera positions of looking into being photographed at the X ray photographic attachment, press the automatic track button of other X ray photographic attachment, and by making the X ray photographic attachment move to the instruction button (step 1201) of new desired location.
When (5) beginning mobile X ray photographic attachment, detect and follow this mobile data that moves,, the rotary stereo photographic attachment is moved keep out of the way (step 1202) so that the rotary stereo photographic attachment leaves X ray photographic attachment certain distance.
(6) after the X ray photographic attachment being set in new camera positions, switch the track button of rotary stereo photographic attachment, with X ray photographic attachment photograph (step 1203) by affirmations such as acoustical signals.
Above-mentioned tracking operation is to be combined in operation in the controller 71 and that respond a device in advance as manner of execution to control, so that another device leaves the above distance of related device regulation, by setting this mode, even by manually moving necessary device, also can avoid colliding, necessary device can be positioned at suitable camera positions usually and photograph with other device.
Though top description is from later mobile the describing of step 806, is not limited to this, above-mentioned mobile beginning can be carried out when two devices are on the optional position.In addition, even X ray photographic attachment more than two is set in a room, another device is moved with other device.
Though in above-mentioned each operational example, the display lamp that utilization is drawn on the bright display is informed each machine mobile end, but, on display except that showing mobile end, also the display power supply switching can be set, show the X ray photography conditions, show the configuration relation of X ray photographic attachment, the display of the X ray photographic attachment during demonstration is moved etc.
Claims (23)
1, a kind of X ray camera chain is included in and is loaded with by the X ray photographic attachment that disposes on the direction of principal axis in the long axis direction of the person's of looking into examining table and the short-axis direction and other medical diagnosis devices that dispose on another direction of principal axis,
Above-mentioned X ray photographic attachment comprises: first mobile unit that is arranged on the ceiling face and moves on an above-mentioned direction of principal axis; C type frame by above-mentioned first mobile unit support; The x-ray bombardment unit that on this C type frame, is provided with; And the X ray image unit that on the position relative with above-mentioned x-ray bombardment unit on the above-mentioned C type frame, is provided with,
Above-mentioned other medical diagnosis devices possess: second mobile unit that is provided with on the ground and moves on above-mentioned another direction of principal axis is characterized in that: comprise,
Position detection unit is configured on above-mentioned first mobile unit and detects the position of above-mentioned first mobile unit;
Memory element according to the signal from above-mentioned position detection unit, is stored above-mentioned X ray photographic attachment with respect to the retreating position of above-mentioned other medical diagnosis devices and the sequence of movement of inspection position and above-mentioned retreating position and detection position;
Control unit is controlled according to the sequence of movement that is stored in the said memory cells, makes above-mentioned X ray photographic attachment move to respect to above-mentioned other medical diagnosis devices and is stored in the predetermined retreating position in the said memory cells or checks the position; And
Input block is to above-mentioned control unit input operation instruction.
2, X ray camera chain according to claim 1 is characterized in that:
Above-mentioned position detection unit is configured on above-mentioned first mobile unit and second mobile unit;
Said memory cells is stored the sequence of movement of above-mentioned X ray photographic attachment and above-mentioned other medical diagnosis devices retreating position separately and inspection position and above-mentioned retreating position and detection position according to from the signal that is configured in the above-mentioned position detection unit on above-mentioned first mobile unit and second mobile unit;
Above-mentioned control unit to controlling at least one unit in above-mentioned first and second mobile units, makes above-mentioned X ray photographic attachment and above-mentioned other medical diagnosis devices move to predetermined retreating position or inspection position according to being stored in the sequence of movement in the said memory cells;
Above-mentioned input block is to above-mentioned control unit input operation instruction.
3, X ray camera chain according to claim 1 is characterized in that:
Above-mentioned first mobile unit possesses the slip holding components that above-mentioned C type frame is moved along the long axis direction of above-mentioned examining table.
4, X ray camera chain according to claim 3 is characterized in that:
Above-mentioned first mobile unit possesses: at the chassis of advancing on the ceiling face and be arranged on the end of above-mentioned chassis and support the pillar of above-mentioned C type frame at the other end in rotating mode.
5, X ray camera chain according to claim 4 is characterized in that:
Above-mentioned control unit is controlled, and makes the straight line of above-mentioned chassis move to move with the rotation of above-mentioned pillar to accept power-assisted.
6, X ray camera chain according to claim 3 is characterized in that:
Possess groove part on the center of rotation part by above-mentioned pillar support of above-mentioned slip holding components, when above-mentioned C type frame slided in above-mentioned slip holding components, the ledge outstanding from above-mentioned C type frame was positioned at above-mentioned groove part.
7, X ray camera chain according to claim 4 is characterized in that:
The straight line that is provided for operating above-mentioned chassis on above-mentioned pillar moves the input block that moves with the rotation of above-mentioned pillar.
8, X ray camera chain according to claim 1 is characterized in that:
Above-mentioned control unit is controlled, so that according to the mobile indication that provides for the photography of being undertaken by above-mentioned X ray photographic attachment, make above-mentioned other medical diagnosis devices move to the zone of keeping out of the way beyond the slewing area of above-mentioned C type frame of above-mentioned X ray photographic attachment, and above-mentioned X ray photographic attachment is moved on the position of photographing.
9, X ray camera chain according to claim 1 is characterized in that:
Above-mentioned control unit is controlled, and makes above-mentioned X ray photographic attachment move indication according to it and moves, and make other medical diagnosis devices to keep the mode of the distance more than the preset distance to move with the above-mentioned X ray photographic attachment that moves.
10, X ray camera chain according to claim 4 is characterized in that:
Above-mentioned control unit possesses display unit, according to the keeping out of the way indication of above-mentioned X ray photographic attachment and above-mentioned C type frame moves to predetermined turned position, moves then that this display unit shows the information of above-mentioned X ray photographic attachment on retreating position if finish this.
11, X ray camera chain according to claim 1 is characterized in that:
Above-mentioned control unit is controlled, and makes that the mobile of above-mentioned other medical diagnosis devices is under an embargo when above-mentioned X ray photographic attachment is mobile; When above-mentioned X ray photographic attachment arrives retreating position, remove mobile the forbidding of above-mentioned other medical diagnosis devices.
12, X ray camera chain according to claim 1 is characterized in that:
Above-mentioned control unit is adjusted above-mentioned examining table, makes to be located at the collinear center that links above-mentioned x-ray bombardment unit and above-mentioned X ray image unit by the person's of looking into photography target position.
13, X ray camera chain according to claim 4 is characterized in that:
On the other end of above-mentioned pillar rotating mechanism being set, is that this rotating mechanism can be supported rotationally rotating and reverse in the center on the direction by above-mentioned chassis with its rotary middle spindle.
14, X ray camera chain according to claim 13 is characterized in that:
Above-mentioned rotating mechanism is that horizontal gear, the mechanism of other horizontal gears on the turning cylinder that is engaged to servomotor on this horizontal gear are being set on the rotary middle spindle of above-mentioned pillar, the encoder and this servomotor that are used to detect the turned position is installed on the above-mentioned servomotor is installed in above-mentioned chassis.
15, X ray camera chain according to claim 4 is characterized in that:
Above-mentioned chassis is to be led by the internal guide rail that is configured on the direction consistent with the long axis direction of above-mentioned examining table.
16, X ray camera chain according to claim 15 is characterized in that:
Above-mentioned position detection unit comprises,
First encoder is installed on the shift position that makes on the servomotor that above-mentioned pillar rotates and detect this servomotor in the ceiling face;
Second encoder is installed on the shift position that makes on the servomotor that above-mentioned chassis moves along above-mentioned internal guide rail straight line and detect this servomotor; And
The 3rd encoder is installed on the shift position that makes on the servomotor that above-mentioned internal guide rail moves along ceiling guide rail straight line and detect this servomotor;
Above-mentioned control unit possesses attitude control, this attitude control is according to the shift position of being detected by first to the 3rd encoder with from the operation signal of operator, carry out above-mentioned C type frame relatively by the control of the person's of looking into angle, and drive the straight line shift position of the turned position in horizontal plane of the above-mentioned pillar of control and above-mentioned chassis, internal guide rail.
17, X ray camera chain according to claim 16 is characterized in that:
Be arranged on the following information of cell stores on the above-mentioned attitude control:
According to the change procedure of the position detection signal that produces from the order that makes each servomotor action of aforesaid operations device input and from above-mentioned first to the 3rd encoder, moving to retreating position from camera positions.
18, X ray camera chain according to claim 17 is characterized in that:
Be arranged on the following information of cell stores on the above-mentioned attitude control:
The rate of change of the unit interval of the change procedure of the position detection signal that makes the order of each servomotor action and produce from above-mentioned first to the 3rd encoder.
19, X ray camera chain according to claim 1 is characterized in that:
Said memory cells is stored a plurality of retreating positions, the camera positions of above-mentioned X ray photographic attachment.
20, X ray camera chain according to claim 16 is characterized in that:
Said memory cells is carried out following storage: the attitude control by above-mentioned X ray photographic attachment is to the advancing and move forward into the storage that the every trade carry is put on the ground of above-mentioned other medical diagnosis devices.
21, X ray camera chain according to claim 16 is characterized in that:
Said memory cells is stored first camera positions and second camera positions, and these first camera positions are the camera positions when above-mentioned X ray photographic attachment and the combination of above-mentioned other medical diagnosis devices are used; These second camera positions are the camera positions when above-mentioned X ray photographic attachment is used with the medical diagnosis device combination that is different from above-mentioned other medical diagnosis devices.
22, X ray camera chain according to claim 21 is characterized in that:
When using separately above-mentioned other medical diagnosis devices or the medical diagnosis device different with above-mentioned other medical diagnosis devices, said memory cells is stored the retreating position of above-mentioned X ray photographic attachment.
23, X ray camera chain according to claim 4 is characterized in that:
Above-mentioned X ray photographic attachment is designed to be arranged on the bottom surface of the rotation holding components on the above-mentioned pillar and the bottom surface of slip holding components forms straight line and makes its extended line consistent with the wiring direction of above-mentioned C type frame.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP30591095A JP3834348B2 (en) | 1995-11-24 | 1995-11-24 | X-ray imaging system and control method thereof |
| JP305910/95 | 1995-11-24 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1161190A CN1161190A (en) | 1997-10-08 |
| CN1259025C true CN1259025C (en) | 2006-06-14 |
Family
ID=17950778
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN96123447.4A Expired - Fee Related CN1259025C (en) | 1995-11-24 | 1996-11-22 | X rays photoing system and method for controlling same |
Country Status (2)
| Country | Link |
|---|---|
| JP (1) | JP3834348B2 (en) |
| CN (1) | CN1259025C (en) |
Families Citing this family (20)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP3670496B2 (en) * | 1998-11-10 | 2005-07-13 | 株式会社モリタ製作所 | Panoramic X-ray equipment |
| JP2002238882A (en) * | 2001-02-21 | 2002-08-27 | Hitachi Medical Corp | Arm support mechanism of x-ray apparatus |
| JP4206784B2 (en) * | 2003-03-04 | 2009-01-14 | 株式会社島津製作所 | X-ray equipment |
| CN1589741B (en) * | 2003-08-25 | 2010-04-21 | 株式会社东芝 | X-ray CT apparatus |
| JP2006025893A (en) * | 2004-07-13 | 2006-02-02 | Toshiba Corp | X-ray image diagnostic device |
| DE102005014286B4 (en) * | 2005-03-24 | 2006-12-21 | Siemens Ag | Diagnostic device with an X-ray system and a location system for catheters and methods for their operation |
| JP2006288617A (en) * | 2005-04-08 | 2006-10-26 | Matsushita Electric Ind Co Ltd | X-ray sensor, x-ray irradiation device and x-ray diagnosis apparatus |
| JP4715409B2 (en) * | 2005-09-15 | 2011-07-06 | 株式会社島津製作所 | X-ray inspection equipment |
| JP5259061B2 (en) * | 2006-08-03 | 2013-08-07 | 株式会社東芝 | Medical imaging device |
| JP5553965B2 (en) * | 2008-02-29 | 2014-07-23 | 富士フイルム株式会社 | Radiation imaging system |
| JP2013081489A (en) * | 2010-02-19 | 2013-05-09 | Shimadzu Corp | Fluoroscopic apparatus |
| JP5510540B2 (en) * | 2010-04-07 | 2014-06-04 | 株式会社島津製作所 | X-ray fluoroscopic equipment |
| KR20120006698A (en) * | 2010-07-13 | 2012-01-19 | 삼성전자주식회사 | Radiography apparatus and control method |
| CN102475549B (en) * | 2010-11-30 | 2015-09-23 | 深圳迈瑞生物医疗电子股份有限公司 | Irradiation image equipment and the next automatic positioning method of bed thereof |
| KR20140039418A (en) * | 2012-09-21 | 2014-04-02 | 삼성전자주식회사 | Medical robot system |
| WO2014111437A1 (en) | 2013-01-17 | 2014-07-24 | Koninklijke Philips N.V. | Ceiling suspension system |
| WO2014142244A1 (en) * | 2013-03-14 | 2014-09-18 | 株式会社 東芝 | X-ray diagnostic device |
| EP3226767A4 (en) | 2015-08-07 | 2018-09-26 | Shanghai United Imaging Healthcare Co., Ltd. | Supporting device in medical diagnostics system |
| CN106880374B (en) * | 2017-03-27 | 2020-09-15 | 东北大学 | Energy spectral CT imaging method and energy spectral CT imaging system |
| CN115089200B (en) * | 2022-06-06 | 2024-07-12 | 陕西青叶海棠网络科技有限责任公司 | Mechanical arm for X-ray photography |
-
1995
- 1995-11-24 JP JP30591095A patent/JP3834348B2/en not_active Expired - Fee Related
-
1996
- 1996-11-22 CN CN96123447.4A patent/CN1259025C/en not_active Expired - Fee Related
Also Published As
| Publication number | Publication date |
|---|---|
| CN1161190A (en) | 1997-10-08 |
| JPH09140689A (en) | 1997-06-03 |
| JP3834348B2 (en) | 2006-10-18 |
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